Mixed tower duct piece positioning and searching method and system based on ultra wide band positioning technology

Abstract

The invention provides a mixed tower segment positioning and searching method and system based on an ultra wide band positioning technology. The method comprises the following steps: S1, deployment preparation; s2, a positioning process: when a pressure sensor on the lifting hook is pressed to reach a threshold value, a rotatable camera processes a picture by combining an image algorithm and judges a specific model until the pressure of the pressure sensor disappears, and a motion coordinate trajectory diagram is generated; s3, a searching process: S31, querying an area where a segment is located in the system, and enabling a manager to wear a UWB tag to enter the area; and S32, quickly finding the corresponding duct piece by displaying the position of the management personnel and the position of the duct piece in real time. According to the method, behavior characteristics of transportation management of the mixed tower segment storage yard are analyzed, the UWB label and the pressure sensor are fixed on a lifting hook of the portal crane, and the position information in the storage yard in the time period from lifting of the segment by the lifting hook to unloading of the segment is recorded to the corresponding segment number; mixed tower duct piece management within the range of one portal crane is completed only through one UWB label.

Description

TECHNICAL FIELD

[0001] The application belongs to the field of hybrid tower wind power, and particularly relates to a hybrid tower pipe piece positioning and searching method and system based on an ultra-wideband positioning technology. BACKGROUND

[0002] The hybrid tower has good fatigue resistance, large lateral stiffness, can keep the tower frequency between 1P-3P, and has no resonance vibration with the impeller, so it is widely used in wind fields. The hybrid tower is generally spliced by multiple pipe pieces, each of which is combined by pipe pieces of different types of A, B, C and D, so that the management of the hybrid tower pipe pieces has high requirements. The hybrid tower pipe piece prefabrication factory is a place for direct production, delivery and storage of pipe pieces, and faces the management problems of a large number of hybrid tower pipe pieces of multiple projects and various types. At present, there is no effective solution, and most of them are the original method of finding each piece by intuition and image judgment, and a small part of them uses partition management of the pipe piece yard, but when the pipe pieces are accumulated and retained in large quantities, the partition management will be useless, and will return to the initial chaotic state.

[0003] The common positioning technology methods at present mainly include radio frequency identification (RFID), ultra-wideband (UWB), Zigbee and Bluetooth array. However, the error value of RFID and Zigbee is too large to meet the demand of the management of the hybrid tower pipe piece yard. Although the identification accuracy of the Bluetooth array can reach within one meter, it is easily disturbed by the outside world, and the identification accuracy of the UWB technology can be controlled within the level of 10 cm, the mainstream UWB products on the market can achieve a visual distance within the range of 600-1000 meters, and have the characteristics of anti-interference, strong penetration and low power consumption.

[0004] The basic principle of UWB ranging is that the system first records the time delay of the signal from the base station to the device to be positioned (containing a positioning chip), then multiplies the delay time by the propagation speed of the electrical signal, and then obtains the straight-line distance between the positioning point to be positioned and the base station. At the same time, considering the error caused by the shielding of the signal, it needs to be corrected. SUMMARY

[0005] The first object of the application is to provide a hybrid tower pipe piece positioning and searching method based on an ultra-wideband positioning technology.

[0006] To this end, the above object of the application is achieved by the following technical scheme:

[0007] A hybrid tower pipe piece positioning and searching method based on an ultra-wideband positioning technology, comprising the following steps:

[0008] S1, deployment preparation:

[0009] S11, first divide the pipe pile yard into multiple areas according to the actual needs of the site, and establish a Cartesian coordinate system, with the corner point of the yard as the coordinate circle point O, to complete the regional division of the yard area;

[0010] S12, multiple cameras and vertical rods are arranged around the pipe pile yard, and a UWB base station is arranged;

[0011] S13, a UWB positioning tag and a pressure sensor are arranged on the hook of the gantry crane, and the pressure threshold of the pressure sensor is set in advance (at the same time, according to the pressure value transmitted by the pressure sensor, the model parameters of the tower crane pipe pile can be roughly judged by comparing the tower crane pipe pile quality parameters, which can be used as a reference for camera pipe pile number recognition and data verification);

[0012] S2, positioning process:

[0013] S21, when the pressure sensor is compressed to reach the threshold, it will be marked by the system, and the algorithm will determine that the gantry crane starts to hoist the tower crane pipe pile, at this time, a signal is sent to the computer, and the computer starts to record and store the position information of the UWB positioning tag corresponding to the pressure sensor;

[0014] S22, the rotatable camera starts to process the pipe pile pictures taken by combining image algorithms, determines the specific model of the hoisted pipe pile, and the system records the pipe pile position information until the pressure of the pressure sensor disappears, generates a pipe pile motion coordinate trajectory graph, and can be queried in real time and related positioning data can be viewed at any time through the software background;

[0015] S3, search process:

[0016] S31, query the area where the pipe pile is located in the system, and the management personnel enter the area by wearing a UWB tag;

[0017] S32, the position of the management personnel and the position of the pipe pile are displayed in real time, and the corresponding pipe pile is quickly found.

[0018] As a preferred technical solution of the application: the computer only retains the position information of the start and end points of the UWB positioning tag, and determines the pipe pile behavior according to the position information:

[0019] If the starting point is located on the transportation road and the end point is the warehouse area, the system will determine that the moving behavior is pipe pile warehousing, and the end point position is the storage position of the pipe pile;

[0020] If the starting point position is the warehouse area and the end point is the transportation road, the system will determine that the moving behavior is pipe pile warehousing, and the camera will take a photo of the pipe pile warehousing;

[0021] If both the starting point and the ending point are on the storage area or the transportation road, the system will determine that the movement is a segment shifting, and will update the latest storage position of the segment in the storage area, and will abandon the storage position information in the transportation road.

[0022] The second object of the present application is to provide a mixed tower segment positioning and searching system based on ultra-wideband positioning technology to solve the above-mentioned problems.

[0023] To achieve the above object, the present application adopts the following technical solutions:

[0024] A mixed tower segment positioning and searching system based on ultra-wideband positioning technology, comprising a rotatable camera, a UWB base station, a gantry crane, a UWB positioning tag, a pressure sensor, a laser range finder, and a computer, wherein a plurality of rotatable cameras and UWB base stations are arranged around the segment storage yard, a gantry crane is arranged above the segment storage yard, laser range finders are arranged at the two ends of the moving direction (front and back, left and right) of the gantry crane to roughly position the hook, a UWB positioning tag and a pressure sensor are arranged on the hook of the gantry crane, and the computer is used to store and process positioning and searching algorithms and information collected by each device.

[0025] While adopting the above technical solutions, the present application can also adopt or combine the following technical solutions:

[0026] As a preferred technical solution of the present application, the camera and the UWB base station are arranged on the camera stand.

[0027] As a preferred technical solution of the present application, the UWB base station is provided with at least three.

[0028] The present application provides a mixed tower segment positioning and searching method and system based on ultra-wideband positioning technology, which has the following beneficial effects: by analyzing the behavior characteristics of the mixed tower segment transportation management, the UWB tag and the pressure sensor are fixed on the hook of the gantry crane, the position information of the segment in the storage yard during the time period from lifting the segment to unloading the segment is recorded, and the corresponding segment number is recorded, so that only one UWB tag is used to complete the management of the mixed tower segment within the range of one gantry crane. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1 FIG. 1 is a schematic diagram of a mixed tower segment positioning and searching device based on ultra-wideband positioning technology provided by the present application.

[0030] Figure 2 FIG. 4 is a layout of a segment storage yard.

[0031] Figure 3 FIG. 6 is a flowchart of the positioning work.

[0032] Figure 4 Flow chart for warehouse in-out determination. DETAILED DESCRIPTION

[0033] The application is described in further detail with reference to the drawings and specific examples.

[0034] As Figure 3 shown, a mixed tower pipe piece positioning and searching method based on ultra-wideband positioning technology is implemented by the following steps:

[0035] S1, deployment preparation:

[0036] S11, first divide the pipe piece yard into A, B, C, and D according to actual site needs, and establish a Cartesian coordinate system, taking the yard corner point as the coordinate circle point O, to complete the regional division;

[0037] S12, set multiple cameras and vertical poles around the pipe piece yard and arrange UWB base stations;

[0038] S13, set a UWB positioning tag and a pressure sensor on the hook of the gantry crane, and set a pressure threshold for the pressure sensor in advance (at the same time, according to the pressure value transmitted by the pressure sensor, refer to the mixed tower pipe piece quality parameters, roughly judge the mixed tower pipe piece model parameters, as a reference for camera pipe piece number recognition and data verification);

[0039] S2, positioning process:

[0040] S21, when the pressure sensor is compressed to reach the threshold, it will be marked by the system, and the algorithm will determine that the gantry crane starts to hoist the mixed tower pipe piece, at this time, a signal is sent to the computer, and the computer starts to record and store the position information of the UWB positioning tag corresponding to the pressure sensor;

[0041] S22, the rotatable camera starts to process the photographed pipe piece pictures combined with image algorithms (since the pipe piece production is completed, a red code will be sprayed on the inside of the pipe piece, such as KQ-05B-20250401, KQ represents the project name abbreviation, 05B represents the 5th segment B type pipe piece, and 20250401 represents the pipe piece production date), to determine the specific model of the hoisted pipe piece, until the pressure of the pressure sensor disappears, to generate a pipe piece motion coordinate trajectory graph, which can be queried in real time and the relevant positioning data can be viewed at any time through the software background;

[0042] S3, searching process:

[0043] S31, query the area where the pipe piece is located in the system, and the management personnel wear a UWB tag to enter the area;

[0044] S32, quickly find the corresponding pipe piece by displaying the positions of the management personnel and the pipe piece in real time.

[0045] When the manager needs to find the corresponding pipe pile in the pipe pile yard, the computer system gives the last updated position of the corresponding pipe pile (coordinates in the Cartesian coordinate system, and the corresponding divided area, such as area A, to facilitate the manager to roughly locate preferentially), and the pipe pile personnel wear UWB positioning tags, which can be used to view the working state of the UWB positioning tag and the position state information of the pipe pile positioning point in real time on the mobile phone APP pipe pile search interface system, so as to realize accurate searching of the pipe pile.

[0046] As shown in Figure 4 , the computer only retains the position information of the start and end points of the UWB positioning tag, and determines the pipe pile behavior according to the position information:

[0047] If the starting point is located on the transportation road and the end point is the warehouse area, the system will determine that the moving behavior is pipe pile warehousing, and the end point position is the storage position of the pipe pile;

[0048] If the starting point position is the warehouse area and the end point is the transportation road, the system will determine that the moving behavior is pipe pile warehousing, and the camera will take a photo of the pipe pile warehousing;

[0049] If the starting point and the end point are both in the warehouse area or on the transportation road, the system will determine that the moving behavior is pipe pile moving, and the latest storage position of the pipe pile will be updated in the warehouse, and the storage position information will be abandoned on the transportation road.

[0050] The positioning algorithm is mainly as follows:

[0051] ①Classify by the distance between the base station and the tag in turn, and each category must include three base stations (use the principle of determining a point by three circles)

[0052] ②Construct the UWB positioning equation in each classification category, and solve the positioning coordinates of each category of tags by least squares method (since the pipe piles are all stacked on the ground, the present application only needs to perform positioning on the two-dimensional plane coordinates, and does not involve solving in the height direction). The laser range finder measures the distance from the gantry crane to the two sides of the yard, thereby determining the possible fluctuation range of the y value of the UWB in the coordinate axis (y min ,y max ); the trolley above the gantry crane is also equipped with a laser range finder to obtain the distance from the trolley to the edge of the track. Since the tower crane has a certain swing during hoisting, the data obtained by the laser range finder cannot be directly used as the coordinate value of the pipe pile. According to the height of the gantry crane, the wind speed and other influencing factors, the fluctuation range of the x value (x min ,x max ) is determined.

[0053] Therefore, the constraint penalty function of x and y is added to the least squares objective function;

[0054] The tag-to-base station distance positioning equation is:

[0055]

[0056] In the formula, the coordinates of the three base stations are p1(x1, y1), p2(x2, y2), and p3(x3, y3); and the coordinate increment is defined as

[0057] The conversion into the least square standard form is:

[0058]

[0059] In the formula, the coordinates of the three base stations are p1(x1, y1), p2(x2, y2), and p3(x3, y3); and the coordinate increment is defined as

[0060] Suppose the world coordinates of the two cameras are Cam1(C X ,Y1,H) and Cam2(C X ,Y2,H) respectively, and C y =Y2-Y1H is the height of the car from the ground, which is a fixed value. C y is the distance in the y direction between the two cameras, and the x value is the same.

[0061] The camera is consistent in device model, so the intrinsic matrix K is consistent:

[0062]

[0063] In the formula, f x ,f y are the focal lengths, the pixel values, c x , c y are the image principal point coordinates (i.e., the image center pixel).

[0064] The coordinates of a certain point Q on the top surface of the segment in the Cam1 image are (u1, v1), and the coordinates of the same point Q in the Cam1 image are (u2, v2). Then the world coordinates Y wQ of Q are:

[0065]

[0066] Cam2:

[0067] Since C y =Y2-Y1, we have

[0068] In the formula, Z c is the difference between the camera and the Q point on the Z axis, and Zc =Hh Q h Q Let Q be the distance from the ground, and H be the height of the camera.

[0069] Based on the identified segment type, the distance from point Q to the center point of the segment requires a translation along the X and Y axes by coordinates (P...). X ,P Y );

[0070] The coordinates of the center point O of the tunnel segment are obtained:

[0071]

[0072] Based on the gantry crane travel height H and the segment lifting height h Q The distance C between the two cameras y The values ​​are typically 15m, 5m, and 0.8m. Considering pixel coordinate extraction errors, camera focal length calibration errors, and camera optical axis tilt errors, under ideal conditions, the errors can be controlled within ±5cm. Therefore, the fluctuation range of X and Y is obtained.

[0073] because Construct a new objective function:

[0074]

[0075] Rewritten as functions of Δx and Δy:

[0076]

[0077] Get the label position

[0078] Because the tunnel lining segments typically move left and right (X-direction) after being lifted, and there is significant inertia and a large amplitude during positioning, therefore λ y Generally greater than λ x The value of λ can be determined based on the specific movement trajectory of the crane. x , λ y The value is usually around 10.

[0079] ③ Calculate the real-time distance between the positioning tag and the base station.

[0080]

[0081] Note: p i UWB base station coordinates (x i ,y i ), i j The coordinates (x) obtained for the j-th category i ,y j )

[0082] IV. Calculate distance residual r k and residual sum R j

[0083]

[0084] V. Determine final positioning result

[0085]

[0086] The present application is based on the characteristics of the mixed tower segment transportation, and uses the characteristics of the large number of base stations to optimize the UWB TDOA positioning technology. The positioning accuracy of the traditional UWB positioning technology is only 10-30 cm, and the present application can obtain the approximate position of the corresponding segment by analyzing the segment transportation behavior and accurately measuring the position of the gantry crane and the trolley (the accuracy is 2-5 mm). Since the segment shakes during hoisting, the above coordinates cannot be used as the segment positioning coordinates. Since the fluctuation of the segment in the Y axis during hoisting and falling is mainly caused by wind, and the fluctuation in the X axis is caused by the lateral movement of the segment, λ y is generally greater than λ x If the crane moves in the X and Y directions at the same time, the value of the first movement is greater than the value of the second movement. Therefore, during the least square solution process, the X and Y penalty functions are added to improve the UWB positioning accuracy to meet the accuracy requirements of segment positioning and searching.

[0087] As shown in Figures 1-2 , a mixed tower segment positioning and searching system based on ultra-wideband positioning technology includes a rotatable camera, a UWB base station, a gantry crane (since the mixed tower segment is heavy, a crane must be used for warehouse entry and exit), a UWB positioning tag, a pressure sensor, a laser range finder, and a computer. A plurality of rotatable cameras and UWB base stations (at least three) are provided around the segment yard and are arranged on the camera stand. A gantry crane is erected above the segment yard, and laser range finders are arranged at the ends of the moving direction (forward and backward, left and right) of the gantry crane. The laser range finders are used to roughly position the hook. A UWB positioning tag and a pressure sensor are arranged on the hook of the gantry crane. The computer is used to store and process positioning and searching algorithms and information collected by each device.

[0088] The above specific embodiments are used to explain and illustrate the present application, and are only preferred embodiments of the present application, but not a limitation on the present application. Any modifications, equivalent replacements, improvements, etc. made to the present application within the spirit of the present application and the protection scope of the claims all fall within the protection scope of the present application.

Claims

1. A method for locating and finding mixed-tower segments based on ultra-wideband positioning technology, characterized in that: It comprises the following steps: S1, deployment preparation: S11, divide the pipe pile yard into multiple areas according to the actual needs of the site; S12, set multiple cameras and vertical poles around the pipe pile yard, and arrange UWB base stations; S13, set UWB positioning tags and pressure sensors on the hooks of the gantry crane, and set pressure thresholds for the pressure sensors in advance; S2, positioning process: S21, when the pressure sensor is compressed to reach the threshold, mark it, determine that the gantry crane starts to hoist the mixed tower pipe pile, and record and store the position information of the UWB positioning tag corresponding to the pressure sensor; S22, the camera processes the pipe pile pictures taken, determines the specific model of the hoisted pipe pile, and generates a pipe pile motion coordinate trajectory graph until the pressure of the pressure sensor disappears; S3, search process: S31, query the area where the pipe pile is located, and let the management personnel wear a UWB tag to enter the area; S32, quickly find the corresponding pipe pile by displaying the positions of the management personnel and the pipe pile in real time.

2. The method according to claim 1, wherein the method is a method for locating and searching mixed tower pipe pieces based on ultra-wideband positioning technology. Only the start and end positions of the UWB positioning tags are retained, and the behavior of the pipe pile is determined based on this: If the starting point is located on the transportation road and the ending point is the warehouse area, the system will determine that the moving behavior is pipe pile warehousing, and the ending point position is the storage position of the pipe pile; If the starting point is located in the warehouse area and the ending point is the transportation road, the system will determine that the moving behavior is pipe pile warehousing, and the camera will take a photo of the pipe pile warehousing; If the starting point and the ending point are both in the warehouse area or on the transportation road, the system will determine that the moving behavior is pipe pile moving, and the latest storage position of the pipe pile will be updated in the warehouse, and the storage position information will be abandoned on the transportation road.

3. A mixed tower tube sheet positioning and searching system based on ultra-wideband positioning technology, characterized in that: It comprises a rotatable camera, a UWB base station, a gantry crane, a UWB positioning tag, a pressure sensor, a laser range finder, and a computer, A plurality of rotatable cameras and UWB base stations are arranged around the pipe pile yard, a gantry crane is arranged above the pipe pile yard, laser range finders are arranged at the ends of the moving direction of the gantry crane, UWB positioning tags and pressure sensors are arranged on the hooks of the gantry crane, and the computer is used to store and process positioning and search algorithms and information collected by various devices.

4. The mixed-tower tube sheet positioning and searching system based on ultra-wideband positioning technology according to claim 3, characterized in that: The camera and the UWB base station are arranged on the camera vertical pole.

5. The system according to claim 3, wherein the system is a mixed tower tube sheet positioning and searching system based on ultra-wideband positioning technology. The UWB base station is provided with at least three.

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